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Advanced mechanisms for roboticsAn overview of applied research and development at NASA-Goddard (GSFC) on mechanisms and the collision avoidance skin for robots is presented. First the work on robot end effectors is outlined, followed by a brief discussion on robot-friendly payload latching mechanisms and compliant joints. This, in turn, is followed by the collision avoidance/management skin and the GSFC research on magnetostrictive direct drive motors. Finally, a new project, the artificial muscle, is introduced. Each of the devices is described in sufficient detail to permit a basic understanding of its purpose, fundamental principles of operation, and capabilities. In addition, the development status of each is reported along with descriptions of breadboards and prototypes and their test results. In each case, the implications of the research for commercialization is discussed. The chronology of the presentation will give a clear idea of both the evolution of the R&D in recent years and its likely direction in the future.
Document ID
19930002781
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Vranish, John M.
(NASA Goddard Space Flight Center Greenbelt, MD, United States)
Date Acquired
September 6, 2013
Publication Date
January 1, 1992
Publication Information
Publication: NASA. Lyndon B. Johnson Space Center, Fifth Annual Workshop on Space Operations Applications and Research (SOAR 1991), Volume 1
Subject Category
Mechanical Engineering
Accession Number
93N11969
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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